// Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/**
 * @file ListenerSubscriber.cpp
 *
 */

#include "ListenerSubscriberApp.hpp"

#include <condition_variable>
#include <stdexcept>

#include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>

#include "CLIParser.hpp"
#include "HelloWorldPubSubTypes.hpp"
#include "Application.hpp"

using namespace eprosima::fastdds::dds;

namespace eprosima {
    namespace fastdds {
        namespace examples {
            namespace hello_world {

                ListenerSubscriberApp::ListenerSubscriberApp(
                    const CLIParser::subscriber_config& config,
                    const std::string& topic_name)
                    : participant_(nullptr)
                    , subscriber_(nullptr)
                    , topic_(nullptr)
                    , reader_(nullptr)
                    , type_(new HelloWorldPubSubType())
                    , samples_(config.samples)
                    , received_samples_(0)
                    , stop_(false)
                {
                    DomainParticipantQos pqos;
                    pqos.name("HelloWorldSubscriber");

                    pqos.wire_protocol().builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = false;
                    pqos.wire_protocol().builtin.discovery_config.use_STATIC_EndpointDiscoveryProtocol = true;
                    pqos.wire_protocol().builtin.discovery_config.static_edp_xml_config("file://staticDiscovery.xml");
                    // Create the participant
                    auto factory = DomainParticipantFactory::get_instance();
                    std::string file = "file://staticDiscovery.xml";
                    if (RETCODE_OK != factory->check_xml_static_discovery(file))
                    {
                        std::cout << "Error parsing xml file " << file << std::endl;
                    }
                    participant_ = factory->create_participant(0, pqos);
                    if (participant_ == nullptr)
                    {
                        throw std::runtime_error("Participant initialization failed");
                    }

                    // Register the type
                    type_.register_type(participant_);

                    // Create the subscriber
                    SubscriberQos sub_qos = SUBSCRIBER_QOS_DEFAULT;
                    participant_->get_default_subscriber_qos(sub_qos);
                    subscriber_ = participant_->create_subscriber(sub_qos, nullptr, StatusMask::none());
                    if (subscriber_ == nullptr)
                    {
                        throw std::runtime_error("Subscriber initialization failed");
                    }

                    // Create the topic
                    TopicQos topic_qos = TOPIC_QOS_DEFAULT;
                    participant_->get_default_topic_qos(topic_qos);
                    topic_ = participant_->create_topic(topic_name, type_.get_type_name(), topic_qos);
                    if (topic_ == nullptr)
                    {
                        throw std::runtime_error("Topic initialization failed");
                    }

                    // Create the reader
                    DataReaderQos reader_qos = DATAREADER_QOS_DEFAULT;
                    subscriber_->get_default_datareader_qos(reader_qos);
                    eprosima::fastdds::rtps::Locator_t helloWorldReaderUnicastLocator;
                    eprosima::fastdds::rtps::IPLocator::setIPv4(helloWorldReaderUnicastLocator,"192.168.10.10");
                    helloWorldReaderUnicastLocator.port = 7811;
                    reader_qos.endpoint().unicast_locator_list.push_back(helloWorldReaderUnicastLocator);
                    reader_qos.endpoint().user_defined_id = 3;
                    reader_qos.endpoint().entity_id = 4;
                    reader_ = subscriber_->create_datareader(topic_, reader_qos, this, StatusMask::all());
                    if (reader_ == nullptr)
                    {
                        throw std::runtime_error("DataReader initialization failed");
                    }
                }

                ListenerSubscriberApp::~ListenerSubscriberApp()
                {
                    if (nullptr != participant_)
                    {
                        // Delete DDS entities contained within the DomainParticipant
                        participant_->delete_contained_entities();

                        // Delete DomainParticipant
                        DomainParticipantFactory::get_instance()->delete_participant(participant_);
                    }
                }

                void ListenerSubscriberApp::on_subscription_matched(
                    DataReader* /*reader*/,
                    const SubscriptionMatchedStatus& info)
                {
                    if (info.current_count_change == 1)
                    {
                        std::cout << "Subscriber matched." << std::endl;
                    }
                    else if (info.current_count_change == -1)
                    {
                        std::cout << "Subscriber unmatched." << std::endl;
                    }
                    else
                    {
                        std::cout << info.current_count_change
                            << " is not a valid value for SubscriptionMatchedStatus current count change" << std::endl;
                    }
                }

                void ListenerSubscriberApp::on_data_available(
                    DataReader* reader)
                {
                    SampleInfo info;
                    while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&hello_, &info)))
                    {
                        if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
                        {
                            received_samples_++;
                            // Print Hello world message data
                            std::cout << "Message: '" << hello_.message() << "' with index: '" << hello_.index()
                                << "' RECEIVED" << std::endl;
                            if (samples_ > 0 && (received_samples_ >= samples_))
                            {
                                stop();
                            }
                        }
                    }
                }

                void ListenerSubscriberApp::run()
                {
                    std::unique_lock<std::mutex> lck(terminate_cv_mtx_);
                    terminate_cv_.wait(lck, [&]
                        {
                            return is_stopped();
                        });
                }

                bool ListenerSubscriberApp::is_stopped()
                {
                    return stop_.load();
                }

                void ListenerSubscriberApp::stop()
                {
                    stop_.store(true);
                    terminate_cv_.notify_all();
                }

            } // namespace hello_world
        } // namespace examples
    } // namespace fastdds
} // namespace eprosima
